JPWO2008093841A1 - Replay log analysis program, terminal device and autonomous mobile robot - Google Patents

Abstract

In response to "TPO", we will provide a technology that can select and play music files that meet user needs. A reproduction log analysis program for analyzing a reproduction log reproduced by an autonomous mobile robot capable of reproducing a music file and generating a recommendation list according to user preference based on the analysis result. This program acquires the reproduction log reproduced by the autonomous mobile robot and stores it in the reproduction log database. Based on the reproduction log, the user's preference is analyzed to generate a user-specific recommendation list. Further, when the terminal device connects to the music file providing site, the music file information is acquired according to the recommendation list. The music file information acquired here is displayed. When the user selects a desired music file, the selected music file is downloaded.

Description

  The present invention relates to a music file reproduction log analysis technique. In particular, the present invention relates to a reproduction log analysis program, a terminal device, and an autonomous mobile robot using information processing technology that can customize a reproduced music file according to user preferences.

  In recent years, the need for so-called “healing” has increased due to lifestyle changes. Although it is up to each person to ask for this "healing", many people are said to be able to obtain "healing" by listening to music. As an item for listening to music, for example, a flash memory called an MP3 player or a music player with a built-in HDD is known. This music player is widely used because it can carry many favorite songs because it can be mounted with a large storage capacity while being lightweight and small.

  In order to listen to the music file with this music player, the music file providing site is accessed using the dedicated software attached to the Internet browser or the music player, and the music file desired by the user is transmitted from the music file providing site to the personal computer (hereinafter referred to as the music file providing site). Download to a hard disk or the like. Then, by transferring the downloaded music file to a music player connected to the PC, it is possible to reproduce and listen to the music file on the music player body.

  Japanese Unexamined Patent Application Publication No. 2005-149141 was extracted as a technique related to such a music distribution system. With this technology, music content distributed from a music distribution system can be downloaded to a mobile terminal, and the downloaded music content can be transferred to a desired object (a home electric appliance such as a microwave oven or a refrigerator) for playback. It is a possible system. Thereby, it is an invention that allows the user to listen to and enjoy his / her favorite music in various scenes in his / her life such as a kitchen or living room.

JP 2005-149141 A

  As described above, music can be easily listened to by selecting a music file from a music file providing site. However, since there are a large number of music file types on the music file providing site, the user has to search for the target music file from among the huge music files. That is, the user wants to listen to music in search of “healing”, but the operation of searching for a target music file to listen to the music is troublesome. By performing such an operation, the original purpose of “healing” would be impaired.

  Also, users who seek “healing” potentially want to listen to their favorite music in their favorite places when they like themselves. In other words, a function that concierges music files according to the “TPO” of Time (place), Place (place, space), and Occasion (case) is desired. Will be.

  In the technique of Patent Document 1 described above, music can be played in a favorite place such as a microwave oven or a refrigerator in a kitchen, but the relationship between temporal conditions and spatial conditions is not taken into consideration. It cannot be said that the function as a concierge is sufficiently satisfied.

On the other hand, household robots having AI (artificial intelligence) functions are known as “new healing” in recent years. This home robot is expected to have a visual relaxation effect with many movements that make the user think “cute” and “interesting”.
In other words, if the music is hearing healing, the home robot functions as vision healing. Therefore, users who seek a deeper level of healing in the future can provide further satisfaction by organically collaborating these.

As a first invention, there is provided a reproduction log analysis program for analyzing a reproduction log reproduced by an autonomous mobile robot capable of reproducing a music file and generating a recommendation list according to a user preference in the terminal device based on the analysis result provide.
The program includes a reproduction log acquisition procedure for acquiring a reproduction log reproduced by the autonomous mobile robot, a reproduction log storage procedure for storing the reproduction log acquired by the reproduction log acquisition procedure in a reproduction log database, and the reproduction log database. A reproduction log analysis procedure for analyzing the user's preference based on the reproduction log stored in the device, a recommendation list generation procedure for generating a user-specific recommendation list by the reproduction log analysis procedure, A network connection determining procedure for determining whether or not the communication means is network-connected to the music file providing site; and, if connected to the music file providing site, the music provided on the music file providing site. File information is updated according to the recommendation list. Music file information acquisition procedure to be acquired, music file display procedure for displaying the acquired music file information on the display means of the terminal device, and music file information displayed on the display means is selected by the user A music file download procedure for connecting to the music file providing site, transmitting a download request, and downloading the selected music file, and a music file storage procedure for storing the downloaded music file in the storage means of the terminal device. Is a reproduction log analysis program that causes a computer to execute.

The “terminal device” is a terminal device related to a user, such as a personal computer, a workstation, a PDA, or a mobile phone.
An “autonomous mobile robot” is a robot that can reproduce and output music files. An autonomous mobile robot in an embodiment to be described later performs a predetermined operation in accordance with the reproduced music file. Here, the robot includes only an operation sensor for a user to touch and operate a music playback command, or a remote control device for remote operation (hereinafter sometimes abbreviated as “remote control”). There are things that can be operated, some that can be done by both, and those that can do both are standard. The standard robot can be operated by an operation sensor and can be operated by using a remote control device for remote operation (hereinafter sometimes abbreviated as “remote controller”).
Here, the “operation sensor” includes a so-called switch, a touch sensor such as a button, a gyro sensor or an acceleration sensor that senses when the robot is tilted.
Further, it may be an “autonomous mobile robot” that can be operated by voice (voice, applause, whistle, etc.) emitted by the user. The robot in this case includes a microphone for inputting the voice uttered by the user, a storage means for storing the voice input to the microphone, an analysis means including an algorithm for analyzing the voice input to the microphone, and an analysis result of the analysis means Output means for outputting an operation command as a motion or music playback or an operation command for stopping playback.
“Reproduction log” is data in which a music file reproduced as a result of a user giving a reproduction command to an autonomous mobile robot is recorded.
A “recommendation list” is a list based on customer profiles, transaction data, purchase behavior data, and the like. For example, assume that there is a playback log of a music file composed by Chopin. This user determines that “classic is preferred” and presents Chopin and music files of classical music related to Chopin to the user. If a favorite artist or genre is presented, it is likely to lead to purchase.

The “music file providing site” is a site that displays a large number of music files and allows purchases from viewing when accessing the WEB site using an Internet browser or dedicated software. There are usually sites where music files can be purchased from a music file providing site using a credit card, gift card, WEB money or the like.
The “playback log database” is a storage medium that stores log data output when a music file downloaded from a music file providing site, a music file created privately, or the like is played. This database is an external storage device of the terminal device, but may be built in the terminal device.
As for downloading, it does not matter whether the music file providing site is pay-per-use, flat-rate, or free.

For example, the communication means of the terminal device connects to the music file providing site via the Internet, and downloads a favorite music file to the terminal device according to the user's selection.
First, a reproduction log reproduced by an autonomous mobile robot is acquired, and the acquired reproduction log is stored in a reproduction log database.
Based on the reproduction log stored in the reproduction log database, the reproduction log analysis procedure analyzes the user's preference. This analysis is executed based on the TPO information such as the location and time, as well as the name of the song and the name of the artist from which the song file was played.
After analyzing the playback log, a recommendation list suitable for user preference is generated.
Here, it is determined whether or not the terminal device is network-connected to the music file providing site.
If the terminal device is connected to the music file providing site, the music file information provided on the music file providing site is optimized and acquired according to the generated recommendation list.

The music file information acquired here is displayed on the display means of the terminal device, and when the user selects it, it connects to the music file providing site and transmits a download request. Then, the selected music file is downloaded.
The downloaded music file is stored in the storage means of the terminal device.
The music file stored in the storage unit of the terminal device is transferred from the terminal device to the autonomous mobile robot by the user's music file playback command, and the music file is played back by the music file playback unit of the autonomous mobile robot.
That is, the music file presented on the music file providing site is displayed according to the generated recommendation list, instead of being intentionally searched and searched by the user. Therefore, it is possible for the user to listen to the music file according to the user's preference without performing an operation of searching for a desired music file from a huge music file list on the music file providing site.
And since the music file provider can provide a service as a music concierge to users who have accessed the site, it can be expected to improve the purchase rate.

The first invention further includes a wireless network connection procedure for connecting to the autonomous mobile robot via a wireless network, and a music file stored in the storage means of the terminal device when the wireless network connection is established. The music file playback command transmission procedure for transmitting a playback command for playback by the playback means of the autonomous mobile robot may be executed by the computer.
A “wireless network” is a wireless LAN. That is, the autonomous mobile robot and the music playback device are network-connected using any standard such as IEEE802.11 (11b / 11a / 11g).

  With the above configuration, the music file stored in the storage means of the terminal device can be transmitted to the autonomous mobile robot via the wireless network and reproduced by the music file reproduction command transmission procedure. In other words, music files can be transmitted using a cableless wireless network, which improves convenience when listening to music.

In the first aspect of the present invention, the reproduction log may further include a song name data reproduction log in which the name of a song from which the autonomous mobile robot has played a song file is specified and recorded.
Here, the “song name data reproduction log” may include an artist name, a lyricist name / composer name, and lyrics data in addition to the tune name of the tune file.
With such a configuration, the user's preferences can be stored as a playback log based on the song name data and used for the next playback, so that a music file corresponding to “TPO” can be provided, and the user's Contributes to increasing satisfaction.

The “reproduction log” in the first invention may include a day / date / time data reproduction log in which the day and time when the autonomous mobile robot reproduces the music file is recorded.
The date / time data includes data related to the hour, minute, and second, in addition to the date.
You can also enter “family birthday” and “anniversary”. As a result, the music file related to the birthday or anniversary is played on the “family birthday” or “anniversary”.

With such a configuration, the following operational effects are achieved.
The date / time data reproduction log includes, for example, a case where a music file is reproduced at 22:00 on Wednesday and a case where it is reproduced at 13:00 on Sunday. A music file (for example, genre: rock song name: Bon Jovi **) played on Wednesday night on weekdays from this reproduction log, and a music file (for example, genre: classical music name: Chopin) played during the daytime on holidays. **) genre differences can be grasped. A recommendation list is generated using this data. For example, when the user accesses the music file providing site on a holiday, a list of Chopin music files and classical music files that were played during the daytime on the holiday is displayed on the screen.
In this way, the function of selecting and playing a music file corresponding to “TPO” is enhanced, which contributes to increasing user satisfaction.

The “reproduction log” in the first aspect of the invention may include position data relating to a reproduction place where the autonomous mobile robot has reproduced the music file.
The “location data reproduction log” includes, for example, reproduction in a living room at home, reproduction in a kitchen, reproduction in a bedroom, reproduction on a veranda, and the like. For obtaining the position data, a GPS function or the like built in the autonomous mobile robot is used.

1st invention is good also as including the environment setting data reproduction log, such as the sound volume and sound effect which the said autonomous mobile robot reproduced | regenerated the music file.
“Environment setting data” includes volume, sound effects, and the like. Sound effects are further subdivided into rooms, surround, roundness, enhancement, equalizer, bass and treble.
“Room” is a function that adjusts the difference in how sounds are heard between environments with little reverberation, such as rooms with tatami mats and carpets, and environments with high reverberation, such as rooms with hard floors and walls.
“Surround” is a function that adjusts the difference in sound due to the difference in listening position indoors to give a three-dimensional sound and a sense of reality.
“Roundness” is a function that can reproduce a well-balanced sound even when the volume is turned down.
“Enhan” is a function that optimizes the sound quality according to the sound source to be played.
"Equalizer" is a function that allows you to select your favorite sound effect from OFF, classical music, jazz, hip hop, rock and speech according to the genre of music.
The “bus” is a function that can adjust the bass within a predetermined range (for example, a range of −6 to +6).
“Treble” is a function capable of adjusting a high tone within a predetermined range (for example, a range of −6 to +6).

The environment setting data reproduction log is setting data of the music reproducing device such as speaker volume, scale level, tuning, and sound effects.
By storing the volume, scale level, sound effect, etc. used daily by the user as a reproduction log and using it for the next reproduction, detailed setting at the time of reproduction of the music file becomes unnecessary.
For this reason, it is possible to satisfy the needs when the hearing level is universalized, which contributes to increasing user satisfaction.

The “reproduction log” of the first invention may include a playlist reproduction log that associates a favorite playlist made up of a music file group created by the user with the day and time data on which the favorite playlist was reproduced. it can.
The “playlist reproduction log” is a reproduction log of a playlist created by the user.
For example, it is assumed that the user has created a playlist composed of Hawaiian music songs called “Hawaiian TOP40”. It is assumed that the playlist “Hawaiian TOP40” is often listened to during the daytime (11: 00-16: 00) on Sunday. Further, it is assumed that a playlist “Business English” is created on weekday nights (20:00 to 23:00). In such a case, when music is reproduced by operating the autonomous mobile robot at night from Monday to Friday, “Business English” is automatically reproduced. On the other hand, when music is played by operating the autonomous mobile robot during the daytime hours on holidays such as Sunday, “Hawaii TOP40” is automatically selected and played.
If a favorite playlist is created, a music file having a high probability of being listened to at the date and time will be played in consideration of date and time data and time data.

  The “reproduction log” of the first invention can also include a dance category reproduction log in which a music file reproduced by the autonomous mobile robot and a dance associated with the music file are recorded. Here, it is assumed that the “dance category” is optimized in advance so that an optimal dance is selected according to the genre of the music file.

The above-mentioned “dance category” is a type of dance set for the genre of music file such as rock, pop, jazz, hip hop, and classical music. For example, if a hip-hop music file is played, the autonomous mobile robot 10 performs a kind of dance (hip-hop category) suitable for the hip-hop music. In the case of a hip-hop system, it becomes a dance where movement is agile with hops. In addition, when a classical music file is played, a slow-motion dance (classic category) is played. It records what kind of dance was performed in correspondence with the genre of the reproduced music file.
The dance category reproduction log functions as a computer program, but can also be used by installing it in a terminal device or an autonomous mobile robot.

The first invention can also be configured as follows.
That is, the above-mentioned “autonomous mobile robot” is provided with an operation sensor for a user to touch and operate in order to execute a command related to music reproduction, and can be operated by a remote control device for remote operation. As the “log”, a reproduction means log that is data of the type of the reproduction operation by the operation sensor or the remote control device is provided, and a music piece can be reproduced using the reproduction means log. Further, when the “autonomous mobile robot” can be operated by the voice generated by the user, the “reproduction means log” further includes type data indicating that the reproduction is performed by voice.
According to such a configuration of the invention, it is possible to reproduce the music as if reproducing the situation of the reproduction operation. That is, the autonomous mobile robot selects the music to be played, depending on whether it is played with the remote control, touched or played by the user, or the user has struck the hand.

  The computer program according to the first invention as described above can be provided by being stored in a recording medium. Here, the “recording medium” is a medium that can carry a program that cannot occupy space by itself. For example, a flexible disk, hard disk, CD-R, CD-RW, MO (magneto-optical disk), DVD ± R, DVD-RW, flash memory, and the like. It is also possible to transmit from a computer storing the program according to the present invention to another terminal device through a communication line.

A second invention for solving the above-described problem is a communication means that can access a music file providing site, a storage means that stores a music file downloaded through the communication means, and a storage means that stores the music file. The present invention relates to a terminal device that includes a display unit that displays a plurality of pieces of music file information and a music file playback unit that plays back a music file stored in the storage unit, and in which a playback log analysis program is installed.
The reproduction log analysis program includes a reproduction log acquisition procedure for acquiring a reproduction log of a music file reproduced by the music file reproduction means, and a reproduction log storage for storing the reproduction log acquired by the reproduction log acquisition procedure in a reproduction log database A replay log analysis procedure for analyzing a user's preferences based on a replay log stored in the replay log database, and a recommendation list generation for generating the user's own recommendation list by the replay log analysis procedure A network connection determining procedure for determining whether or not the communication means is network-connected to the music file providing site; and the communication means of the terminal device is connected to the music file providing site by the network connection determining procedure. In that case, the music file A music file information acquisition procedure for optimizing and acquiring music file information provided on the site according to the recommendation list, a music file display procedure for displaying the acquired music file information on the display means, When the music file information displayed on the display means is selected by the user, a music file download procedure for connecting to the music file providing site and transmitting a download request and downloading the selected music file is downloaded. And a music file storage procedure for storing a music file in the storage means.
As described above, the “terminal device” is a terminal device related to a user, such as a personal computer, a workstation, a PDA, or a mobile phone.

  The second invention further includes a wireless network connection procedure for connecting to the autonomous mobile robot via a wireless network, and a music file stored in the storage means of the terminal device when the wireless network connection is established. And a music file playback command transmission procedure for transmitting a playback command for playback by the playback means of the autonomous mobile robot, and a terminal device installed with a playback log analysis program.

  In the second invention, as in the first invention, the “playback log” includes a song name data reproduction log in which the name of the song from which the autonomous mobile robot has played the song file is specified and recorded. You can also.

  The “reproduction log” may include day / date data in which the day and time when the autonomous mobile robot reproduces the music file is recorded.

  In addition, the “play log” may include position data related to a place where the autonomous mobile robot has played the music file.

  As in the first invention, the second invention may further include an environment setting data reproduction log such as a sound volume and a sound effect when the autonomous mobile robot reproduces the music file.

  In addition, the “playback log” includes a playlist playback log that associates a favorite playlist made up of a music file group created by the user and the day and time data on which the favorite playlist was played back. You can also.

A third invention for solving the above-described problem is a communication means that can access a music file providing site, a storage means that stores a music file downloaded through the communication means, and a storage means that stores the music file. The present invention relates to an autonomous mobile robot having display means for displaying a plurality of music file information and music file playback means for playing back music files stored in the storage means, and having a playback log analysis program installed therein.
The reproduction log analysis program includes a reproduction log acquisition procedure for acquiring a reproduction log of a music file reproduced by the music file reproduction means, and a reproduction log storage for storing the reproduction log acquired by the reproduction log acquisition procedure in a reproduction log database A replay log analysis procedure for analyzing a user's preferences based on a replay log stored in the replay log database, and a recommendation list generation for generating the user's own recommendation list by the replay log analysis procedure A network connection determining procedure for determining whether or not the communication means is network-connected to the music file providing site; and the communication means of the autonomous mobile robot is connected to the music file providing site by the network connection determining procedure. If so, that song A music file information acquisition procedure for optimizing and acquiring music file information provided on a file providing site according to the recommendation list; a music file display procedure for displaying the acquired music file information on the display means; A music file download procedure for connecting to the music file providing site and transmitting a download request and downloading the selected music file when the music file information displayed on the display means is selected by the user; The music file storage procedure for storing the downloaded music file in the storage means is executed by the control computer of the autonomous mobile robot.

The third invention can further comprise the following configuration. That is, a storage unit that stores obstacle position information in the moving space as map data, an image data processing unit that processes image data from the photographing unit, a moving mechanism, and a sensor that is output from the moving mechanism. A moving mechanism control unit that generates traveling information based on the sensor information, a position estimation unit that estimates a position from the traveling information generated by the moving mechanism control unit and the processing result of the image data processing unit, and the position A movement route planning unit for obtaining a movement route from the position estimated by the estimation unit and the map data stored in the storage unit. Thereby, the moving mechanism control unit becomes an autonomous mobile robot that moves by controlling the moving mechanism based on the moving route obtained by the moving route planning unit.
In this case, the autonomous mobile robot associates the position information input from the information input unit with the position estimated by the position estimation unit and the information input unit that receives position information and destination information from the user. A location information storage unit that stores information, and when the destination information is input to the information input unit, the travel route planning unit receives position data corresponding to the input destination information from the storage unit. The movement path can be obtained from the position estimated by the position estimation unit by referring to the map data stored in the storage unit.

The third invention further includes a distance measuring sensor capable of measuring the measurement object by either infrared rays or ultrasonic waves, and map data storage means for storing position information regarding the measurement object measured by the distance measurement sensor. You can also.
“Infrared rays” are a kind of electromagnetic waves distributed outside the red of visible light, and are classified into near infrared rays, middle infrared rays, and far infrared rays depending on the wavelength. By irradiating a substance to be measured with infrared rays and dispersing transmitted (or reflected) light, a spectrum can be obtained to know the characteristics of the object.

  An autonomous mobile robot moves to a destination avoiding an obstacle when an infrared or ultrasonic ranging sensor detects the obstacle. Further, the map data storage means stores position information regarding the obstacle and uses it later as its own map data.

  In the third invention, as in the first invention, the “reproduction log” includes a song name data reproduction log in which the song file reproducing means identifies and records the song name of the song file that has been reproduced. Can do.

  In the third aspect of the present invention, the “reproduction log” may include a day / date / time data reproduction log in which the music file reproduction unit records the day of the week and the time of reproduction of the music file.

  In a third aspect of the present invention, the “reproduction log” may include a location data reproduction log in which position data relating to a location where the music file reproduction unit has reproduced the music file is recorded.

  In the third aspect of the present invention, the “reproduction log” may include an environment setting data reproduction log such as a volume and a sound effect at which the music file reproduction unit reproduces the music file.

  According to a third aspect of the present invention, a playlist reproduction in which a favorite playlist composed of a music file group originally created by a user and day and time data on which the favorite playlist is reproduced is associated with the “reproduction log”. Logs can be included.

The third invention can also be configured as follows.
That is, the “autonomous mobile robot” includes an operation sensor for a user to touch and operate to execute a command related to music reproduction, and can be operated by a remote control device for remote operation. As the “log”, a reproduction means log which is data of the type of reproduction operation by the operation sensor or the remote control device is provided, and a music piece can be reproduced using the reproduction means log. Further, when the “autonomous mobile robot” can be operated by a voice uttered by the user, the “playback means log” further includes type data indicating that the playback is performed by voice.
According to such an invention, it is possible to reproduce the music as if reproducing the situation of the reproduction operation. That is, the autonomous mobile robot selects the music to be played, depending on whether it is played with the remote control, touched or played by the user, or the user has struck the hand.

According to the first to eighth aspects of the invention, it is possible to provide a reproduction log analysis program capable of selecting and reproducing a music file suitable for user needs according to “TPO”.
According to the ninth to fifteenth aspects of the present invention, it is possible to provide a terminal device capable of selecting and reproducing a music file suitable for user needs according to “TPO”.
According to the invention described in claims 16 to 23, it is possible to provide an autonomous mobile robot capable of selecting and reproducing a music file suitable for user needs according to "TPO".

It is the schematic which shows the whole structure of a system. It is the schematic which showed the external appearance shape of the autonomous mobile robot. It is a block block diagram of an autonomous mobile robot. It is a figure which shows an example of the map data memorize | stored in the memory | storage part in FIG. It is a figure which shows typically the table which the position information storage part in FIG. 2 memorize | stores. It is the block diagram which showed the hardware constitutions of the terminal device. It is the figure which showed the kind of reproduction log of a music file. It is the flowchart which showed the process of the reproduction log analysis program. It is the flowchart which showed the process of the reproduction log analysis program.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Autonomous mobile robot 11 Movement mechanism 12 Movement mechanism control part 13 Memory | storage part 14 Position estimation part 15 Movement route plan part 16 Obstacle detection part 17 Map data production | generation update part 18 Image pick-up part 19 Image data process part 20 Information input part 20a Audio | voice Recognition unit 20b Input information processing unit 20c Communication connection unit 21 Location information storage unit 22 Arrival determination unit 23 Output unit 30 Terminal device 31 CPU
32 RAM 33 Storage unit 34 Input unit 35 Display unit 36 Communication unit 37 Output unit 38 Input / output port
40 Playback log database

  Hereinafter, the present invention will be described in more detail based on embodiments and drawings. The drawings used here are FIGS. 1 to 8. FIG. 1 is a conceptual diagram showing the overall configuration of an autonomous mobile robot capable of playing music and a terminal device installed with a playback log analysis program, and FIG. 2 is a schematic diagram showing the external shape of the autonomous mobile robot. 3 is a block diagram showing the configuration of the autonomous mobile robot, FIG. 4 is a diagram showing an example of map data stored in the storage unit in FIG. 2, and FIG. 2 is a diagram schematically showing a table stored in the position information storage unit in FIG. 2, FIG. 6 is a block diagram showing a hardware configuration of a terminal device, and FIG. 7 is a reproduction log of a music file FIG. 8 and FIG. 9 are flowcharts showing processing of the reproduction log analysis program.

(overall structure)
FIG. 1 is a conceptual diagram schematically showing a form in which the autonomous mobile robot 10 reproduces music, Internet radio, and the like. When playing music, the terminal device 30 is used to connect to the music file providing site via the Internet, download the music file, and transfer the music file to the autonomous mobile robot 10. Then, the autonomous mobile robot 10 can reproduce the music file transferred from the terminal device 30.
The autonomous mobile robot 10 is formed so that a music player or a mobile phone having a music playback function can be mounted. In other words, the autonomous mobile robot 10 can also reproduce the music file stored in the installed music player or mobile phone. The “music player” is an apparatus having a function of recording and reproducing a music file in a predetermined format on a storage medium such as a flash memory. A typical example is an MP3 player.

The autonomous mobile robot 10 will be described with reference to FIGS.
2A and 2B are views showing the external shape of the autonomous mobile robot 10, wherein FIG. 2A is a front view and FIG. 2B is a rear view. FIG. 3 is a block diagram of the autonomous mobile robot 10.
The autonomous mobile robot 10 includes, for example, a moving mechanism 11 that moves by moving a wheel with a motor, a moving mechanism control unit 12 that controls the moving mechanism 11, and an obstacle in the moving space of itself (autonomous mobile robot 10). Storage unit 13 that stores the position information of the robot as a map data, a position estimation unit 14 that estimates the position of itself (autonomous mobile robot 10), various action patterns stored in advance in the storage unit 13, and the map data And a movement route planning unit 15 that plans a movement route from the current position based on the current position and outputs the movement route information to the movement mechanism control unit 12.

The autonomous mobile robot 10 obtains a movement route from the current position estimated by the position estimation unit 14 with reference to the behavior pattern and map data by the movement route planning unit 15 and outputs the movement route information to the movement mechanism control unit 12. Then, the movement mechanism control unit 12 controls the movement mechanism 11 to move along the movement path based on the movement path information.
Here, in the storage unit 13, when the autonomous mobile robot 10 detects a human figure, a tracking behavior pattern that follows the detected person, or an obstacle detection unit 16 detects an obstacle as described later. Control information for controlling the movement mechanism 11 along various behavior patterns, such as a behavior pattern for executing a movement plan so as to avoid obstacles, is stored in advance.

Although not shown in FIGS. 1 and 2, the autonomous mobile robot 10 according to the present embodiment includes an operation sensor for a user to touch and operate a command related to music reproduction. Here, the “operation sensor” includes a so-called switch, a touch sensor such as a button, a gyro sensor or an acceleration sensor that senses when the robot is tilted.
Furthermore, operation by voice (voice, applause, whistle, etc.) uttered by the user is possible. That is, in order to enable operation by voice, a microphone for inputting voice uttered by the user, storage means for storing voice input to the microphone, analysis means including an algorithm for analyzing voice input to the microphone, and analysis thereof Output means for outputting an analysis result of the means as an operation command for outputting movement or music reproduction or stopping reproduction.

  The autonomous mobile robot 10 shown in FIG. 4 includes an obstacle detection unit 16 that receives an output signal from various sensors such as an ultrasonic distance sensor and an infrared distance sensor, and detects the obstacle. When receiving information on the presence and direction of an obstacle from the unit 16, the map data generation / updating unit generates and updates the position information of the final obstacle with reference to the position estimated by the position estimation unit 14 17. The ultrasonic distance measuring sensor detects contact between the robot and a surrounding object with ultrasonic waves.

An infrared distance measuring sensor is a method of obtaining the spectrum by irradiating the material to be measured with infrared rays and dispersing transmitted (or reflected) light to know the characteristics of the object. The direction of the robot and other directions An object at a predetermined distance is detected.
When receiving the output signal from such an obstacle sensor, the obstacle detection unit 16 determines the presence or absence of an obstacle in the vicinity of the robot and the direction of the obstacle from the robot, and the result is sent to the map data generation and update unit 17. Is output. When the map data generating / updating unit 17 receives input of information on the presence and direction of the obstacle from the obstacle detecting unit 16, the map data generating / updating unit 17 refers to the position estimated by the position estimating unit 14 and determines the final obstacle position. Create information as map data.

FIG. 4 is a diagram showing an example of map data. Arbitrary regions in the movement space of the autonomous mobile robot 10 are divided into, for example, a grid. Each area is represented by, for example, two-dimensional coordinates (X, Y). In the figure, “1” indicates that there is an obstacle, “0” indicates that there is no obstacle, and “−1” indicates that the presence or absence of the obstacle is unknown.
In addition to the data structure of the map data shown in FIG. 4, as additional information on the presence / absence of an obstacle at each position in the moving area of the robot, image data generated by the photographing unit 18 and sensor information by various obstacle sensors are added. The data structure may be such that the obstacle existence probability estimated based on each lattice point is indicated.

The autonomous mobile robot 10 shown in FIGS. 2 and 3 includes an imaging unit 18 including a camera and its camera driver, and an image data processing unit 19 that processes image data output from the imaging unit 18. The camera in the photographing unit 18 controls the photographing direction, photographing timing, and the like by a camera driver, and generates image data by photographing. Then, the image data processing unit 19 causes the storage unit 13 to store the image data together with the position estimated by the position estimation unit 14 according to the processing result.
Further, according to the processing result, the image data processing unit 19 outputs the processing result to the map data generation / updating unit 17 when an obstacle is detected as will be described later. Upon receiving this output, the map data generation / update unit 17 calculates the position of the obstacle based on the position estimated by the position estimation unit 14 and the processing result, and updates the map data stored in the storage unit 13. To do.

  As described above, the autonomous mobile robot 10 creates the obstacle position information in the robot movement space as map data by itself, and the obstacle position information already stored in the storage unit 13 does not match the current state. Update the data. Thereby, even if the robot movement space changes at all, the autonomous mobile robot 10 can move autonomously corresponding to the change.

  In the autonomous mobile robot 10 of the present invention, position information such as a name given to an arbitrary position in the robot movement space by the user, and destination information as instruction information of the destination of the autonomous mobile robot 10 are stored. An information input unit 20 that receives an input, and a position information storage unit 21 that stores the position information input by the information input unit 20 and the position estimated by the position estimation unit 14 in association with each other.

FIG. 5 is a diagram schematically illustrating a table in which the position information storage unit 21 stores the position information and the estimated position in association with each other. The table stored in the position information storage unit 21 is arbitrarily assigned by the user to the position estimated by the position estimation unit 14, that is, the corresponding position coordinates (x, y) in the robot movement space and the position coordinates. The position information such as the name is configured to correspond one-to-one.
For example, the first table T1 to which each memory number is assigned to the position information (“Genkan”, “Kitchin”, “Ousetsuma” in FIG. 5) input from the information input unit, Each memory number assigned to the first table T1 is composed of a second table T2 in which the corresponding position coordinates (x, y) in the robot movement space are stored. The correspondence relationship may be stored.
Here, the coordinates (X, Y) indicating the position of the obstacle in the map data and the position coordinates (x, y) estimated by the position estimation unit 14 are described with the same segment size, but the segment is not necessarily segmented. The sizes need not be at the same level, and the segment size of the position coordinates (x, y) estimated by the position estimation unit 14 may be finer.

  The information input unit 20 includes a voice recognition unit 20a that determines destination information and position information input by voice, and the position information determined by the voice recognition unit 20a and the current information estimated by the position information estimation unit 14. The input information processing unit 20b may be configured to instruct the position information storage unit 21 to store the position of the autonomous mobile robot 10 in association with each other as described above. The information input unit 20 is connected to a remote controller, a touch panel, or the like, and has an interface function for receiving operation instructions from the user. Therefore, the user may be able to input a movement instruction such as moving forward or turning left in order to input position information or move the robot directly to the robot.

The information input unit 20 may include a communication connection unit 20c that connects to the outside and an external computer such as a mobile phone or a personal computer (terminal device 30), and an input information processing unit 20b as described below.
When the map information stored in the storage unit 13 is displayed on the screen of the input / output display unit of the external computer, the input information processing unit 20b uses a pointing device such as a mouse on the map data displayed on the screen. Thus, the designation input of the position coordinates to which the position information is to be inputted and the position information for the position coordinates are inputted.
When the image data generated by the photographing unit 18 and the position estimated by the position estimation unit 14 at the time of generation are stored as a set in the storage unit 13, the position designated by the pointing device on the screen display By outputting and displaying the image data as reference information on an external computer as a reference information, the user can correctly input position information such as a name for each position of the map data, that is, the coordinates.

Further, as shown in FIGS. 2 and 3, the information input unit 20 includes a voice input unit 20a, an input information processing unit 20b, and a communication connection unit 20c. When inputting a set, or when inputting a set of several pieces of position information and coordinates thereof as appropriate, the input method can be appropriately selected according to the user's preference.
Furthermore, the information input unit 20 receives information on the destination of the autonomous mobile robot 10 from the user by voice, inputs destination information by communication connection with a mobile phone, or sends / receives mail to / from an external computer. When the destination information is input after being connected, the destination information is input to the movement path planning unit 15 to instruct to plan the movement path. Receiving this instruction, the movement route planning unit 15 plans a movement route using the destination information, the current position estimated by the position estimation unit 14 and the map data stored in the storage unit 13, and controls the movement mechanism. The travel route information is output to the unit 12. Receiving this output, the movement mechanism control unit 12 controls the movement mechanism to autonomously move based on the inputted movement route information.

The autonomous mobile robot 10 is estimated by the position estimation unit 14 with travel route information from the travel route planning unit 15, travel information such as travel distance and travel direction generated based on sensor information in the movement mechanism 11, and the position estimation unit 14. If the arrival determination unit 22 that determines whether or not the destination has been reached from the determined position matches the destination information input to the information input unit 20 by the arrival determination unit 22, the arrival determination unit 22 reaches the outside. And an output unit 23 for outputting information indicating that it has been performed.
Therefore, when the autonomous mobile robot 10 moves to the destination, the output unit 23 outputs, for example, a message “arrived” as a voice, or sends the message to the user's portable information terminal device as a voice. Output or send the message by email. Further, as will be described later, the movement mechanism control unit 12 may control the movement mechanism 11 according to an action pattern stored in advance in the storage unit 13 to perform a predetermined operation. If the output unit 23 does not reach even after a predetermined time has elapsed, the output unit 23 can output, for example, a message “not reachable” along various forms.

Although illustration is omitted, the autonomous mobile robot 10 is driven by a rechargeable battery. However, if the capacity of the rechargeable battery is reduced to a level that hinders driving, the position of the AC adapter is not shown. Returning to, it has a function to charge autonomously. Although not shown in the figure, the AC adapter includes a charging terminal on a table on which the autonomous mobile robot 10 can ride.
In addition, by analyzing the “playback log” described in detail later, it is possible to determine the time zone and day of the week when the user does not listen to music, and return to the AC adapter position during such time zone to allow autonomous charging. You can also

(Terminal device)
FIG. 6 is a block diagram illustrating a hardware configuration of the terminal device 30.
The terminal device 30 is a so-called home personal computer that is connected to the autonomous mobile robot 10 via a wireless LAN and in which a reproduction log analysis program for transferring a downloaded music file is installed.

  The hardware configuration includes a CPU 31 that performs overall control of the terminal device 30 and various arithmetic processes, a RAM 32 that temporarily expands and stores various data when writing various data, an operating system, application software, and various data. A storage unit 33 to be stored, an input unit 34 such as a mouse or keyboard, a display unit 35 such as a display, a communication unit 36 connectable to an electric communication line such as the Internet or an intranet, an output unit capable of outputting various data to a printer or the like 37 and an input / output port 38 which is an input / output unit for various data.

  The terminal device 30 is connected to the reproduction log database 40. The reproduction log database 40 functions as an external storage device of the terminal device 30 and contributes to data maintenance by storing a reproduction log that records what kind of music file the autonomous mobile robot 10 has reproduced. is doing. The reproduction log database 40 may be a built-in type in which the terminal device 30 is stored.

(Replay log)
FIG. 7 is a diagram showing types of reproduction logs of music files.
As a music file reproduction log, a music name data reproduction log in which the autonomous mobile robot 10 has identified and recorded the name of a music file that has been reproduced, a day / time data reproduction log in which the day and time of reproduction of the music file are recorded, music Location data playback log that records the location where the file was played, environment setting data playback log such as volume and sound effect that played the music file, playlist playback log that played back the favorite playlist, what kind of music genre There is a dance category playback log that records the type of dance.

The song name data reproduction log includes an artist name, a songwriter name / composer name, and lyrics data in addition to the song name of the song file. Although not shown, a genre, album name, photo data, and the like may be included.
By including the song name data reproduction log, it is possible to acquire various data such as artist name, songwriter name, composer name, etc. from the song name, and to generate a recommendation list according to user needs. The recommendation list is a list generated based on a customer profile, transaction data, purchase behavior data, and the like. For example, if there is a reproduction log of a music file composed by Chopin, this user determines that “I like classical music” and presents the music file of classical music related to Chopin and Chopin to the user. In other words, if an artist or the like that the user likes is presented, the possibility of being connected to purchase increases.

  The day / date and time data reproduction log is a log for grasping mainly what day of the week and what time of reproduction. For example, it is assumed that “genre: rock song name: Bon Jovi **” is played when the music file A is 22:00 on Wednesday. Further, it is assumed that the music file B is played on Sunday at 13:00, “genre: classical music name: Chopin”. That is, this user can feel that he / she wants to listen to rock on a weekday night, and feels like to listen to classical music during the daytime on holidays. As described above, the genre of music to be listened to may differ depending on the day of the week, the time zone, and the mood. In the present invention, by grasping this difference, it functions as a concierge that answers the user needs accurately.

  In addition to date data, the date / time data includes data on the hour, minute, and second. If you have date data, you can view what you have heard in the past (such as December 24, 1976).

Further, by inputting information such as “family birthday” and “anniversary” in the day / date data reproduction log, a predetermined music file can be played on the birthday or anniversary. For example, when the birthday of the child is June 10, “Birthday Date: 06/10” is input and set. Subsequently, what kind of music file is to be played back on this “Birthday Date 01: 06/10” is selected. In this case, a music file related to “Happy Birthday” is prepared in advance, but a desired music can also be selected from a music file list related to “Happy Birthday” from a music file providing site.
If “Birthday Date: 06/10: 21: 00” is set, it is possible to perform more finely by setting to play at 21:00 on June 10th.

  Also, the location data reproduction log that records the location is “living” when played in the living room at home, “kitchen” when played in the kitchen, and when played on the veranda. If it is played in the “Veranda” bedroom, it is recorded as “Bedroom”. The GPS function is used to acquire the location data.

  In addition, the environment setting data reproduction log such as volume and sound effect can be set by the autonomous mobile robot 10 such as the volume level of the speaker when the music file is reproduced and the scale level in which the sounds are arranged in order of high and low It's a lot of data. By setting up the environment for listening to these music, you can know the volume level and scale level that the user is using on a daily basis. Is no longer necessary.

Sound effects include room, surround, roundness, enhancement, equalizer, bass and treble.
“Room” is a function that adjusts the difference in how sounds are heard between environments with little reverberation, such as rooms with tatami mats and carpets, and environments with high reverberation, such as rooms with hard floors and walls.
“Surround” is a function that adjusts the difference in sound due to the difference in listening position indoors to give a three-dimensional sound and a sense of reality.
“Roundness” is a function that can reproduce a well-balanced sound even when the volume is turned down.
“Enhan” is a function that optimizes the sound quality according to the sound source to be played.
"Equalizer" is a function that allows you to select your favorite sound effect from OFF, classical music, jazz, hip hop, rock and speech according to the genre of music.
The “bus” is a function that can adjust the bass within a predetermined range (for example, a range of −6 to +6).
“Treble” is a function capable of adjusting a high tone within a predetermined range (for example, a range of −6 to +6).

The playlist reproduction log is a reproduction log in which a favorite playlist composed of a music file group created by the user is associated with day and time data on which the favorite playlist is reproduced.
For example, it is assumed that the user has created a playlist composed of Hawaiian music songs called “Hawaiian TOP40”. It is assumed that the playlist “Hawaiian TOP40” is often listened to during the daytime (11: 00-16: 00) on Sunday. Further, it is assumed that a playlist “Business English” is created on weekday nights (20:00 to 23:00). In such a case, when music is played by operating the autonomous mobile robot 10 at night from Monday to Friday, “Business English” is automatically played back. On the other hand, when music is played by operating the autonomous mobile robot 10 during the daytime on a holiday such as Sunday, “Hawaian TOP40” is automatically selected and played.
That is, if a favorite playlist is created, the music file that is normally listened to is played in consideration of the date / time data and the time data, which is excellent in convenience.

  The dance category reproduction log is a reproduction log recorded by associating the reproduced music file with the dance when the autonomous mobile robot 10 performs a dance according to a predetermined music. The dance category is a type of dance set for the genre of music file such as rock, pop, jazz, hip hop, and classical music. That is, when a hip-hop music file is played, the autonomous mobile robot 10 executes a type of dance (hip-hop category) suitable for the hip-hop music. In the case of a hip-hop system, it becomes a dance where movement is agile with hops. In addition, when a classical music file is played, a slow-motion dance (classic category) is played.

Then, it is recorded what category of dance is performed in correspondence with the genre of the reproduced music file.
The autonomous mobile robot 10 can reflect a dance category that makes a new movement by upgrading the dance category that is installed by default at the time of purchase.
As the version upgrade, the one uploaded on the Internet to the official site of the autonomous mobile robot 10 or the music file providing site described above is downloaded to the terminal device 30 and transferred to the autonomous mobile robot 10 by wireless LAN. Reflected. In addition, it is possible to perform a billing means by downloading a new dance.
The dance category reproduction log functions as a computer program, but can also be installed and used in the terminal device 30 or the autonomous mobile robot 10.

The “reproduction log” may include a reproduction means log that is data of the type of reproduction operation performed by an operation sensor or a remote control device provided in the autonomous mobile robot 10. The autonomous mobile robot 10 has a configuration that enables music reproduction using the reproduction means log. Furthermore, since the autonomous mobile robot 10 according to the present embodiment can be operated by voices uttered by the user, the “playback means log” further includes type data indicating that playback is by voice. To do.
By using such a “reproduction log”, it is possible to reproduce the music as if reproducing the situation of the reproduction operation. That is, the autonomous mobile robot 10 selects the music to be played, depending on whether it is played with the remote control, touched or played by the user, or the hand is struck.

With reference to FIGS. 8 and 9, a series of operations of the autonomous mobile robot 10 and the reproduction log analysis program will be described.
The autonomous mobile robot 10 reproduces the music file (S101).
First, a reproduction log of a music file reproduced by the autonomous mobile robot 10 is acquired (S102), and the acquired reproduction log is stored in the reproduction log database 40 (S103).
Based on the reproduction log stored in the reproduction log database 40, the reproduction log analysis procedure analyzes the user's preference (S104). As described above, the analysis is performed based on various reproduction logs such as a song name, artist name, reproduction location, day of the week, date and time, etc. from which the music file has been reproduced.
After the reproduction log analysis, a recommendation list suitable for user preference is generated (S105).

Next, it is determined whether or not the terminal device 30 is connected to the music file providing site via the Internet (S106). If it is determined that the terminal device 30 is connected to the music file providing site, the music file providing site is determined. The music file information provided at is optimized and acquired according to the generated recommendation list (S107).
If the user is recommended (reproduction log) that “I listen to Chopin well on holidays,” for example, when accessing during the daytime on Sunday, classical music, especially Chopin's To collect songs.
On the other hand, if it is determined that the Internet connection is not established, the connection wait state is entered (S108).

  Subsequently, the music file information acquired by the terminal device 30 is displayed on the display unit 15 of the terminal device 30 (S109). It is determined whether or not the music file desired by the user is selected from the music file list displayed on the display unit 15 (S110). When the user selects a music file, the user again connects to the music file providing site (S111) and transmits a download request. Then, the selected music file is downloaded (S112). On the other hand, when it is determined that the music file is not selected, the user waits for selection (S113).

Then, the music file downloaded to the terminal device 30 is stored in the storage unit 13 (S114).
The music file stored in the storage unit 13 of the terminal device 30 is transferred from the terminal device 30 to the autonomous mobile robot 10 by the user's music file playback command, and the music file is played back by the music file playback means of the autonomous mobile robot. It is. The autonomous mobile robot 10 reproduces a music file while performing dance according to movement and tune based on a place data reproduction log and a user operation command.

  That is, the music file presented on the music file providing site is displayed according to the recommendation list generated based on the reproduction log, instead of being intentionally searched and searched by the user. For this reason, the user can listen to the music file according to his / her preference without performing a task of searching for a desired music file from a huge music file list on the music file providing site. This makes it possible to obtain a user's preference based on various playback logs, so that the music file corresponding to "TPO" can be conciergeed (navigated and executed, appropriately selected and played). .

In addition, although the reproduction log analysis program in the present embodiment is installed in the terminal device 30, the present invention is not limited to this. For example, if the autonomous mobile robot 10 is formed so as to be connected to the Internet, a reproduction log analysis program is installed in the storage unit 13 to generate a recommendation list, and a music file corresponding to the user preference is downloaded from the recommendation list. be able to.
Further, only the Internet connection depends on the terminal device 30, and the reproduction log analysis program may be installed in the storage unit 13.

Although not shown, the autonomous mobile robot 10 has a wireless communication function with the above-described remote controller (wireless communication device using infrared rays or the like). Since the user generally places a remote controller in the vicinity when using the autonomous mobile robot 10, the autonomous mobile robot 10 performs wireless communication with the remote controller to position the remote controller. Can be specified. Furthermore, it can approach a user by moving to the position of a remote control.
According to this function, the autonomous mobile robot 10 can follow and turn like a user's pet. The user may feel attachment to the autonomous mobile robot 10.

  It is naturally possible to add the above-described function as a reproduction log. That is, it is possible to reproduce the music as if reproducing the situation of the reproduction operation. That is, the autonomous mobile robot 10 selects the music to be played, depending on whether it is played with the remote control, touched or played by the user, or the hand is struck.

  The present invention can be used in the manufacturing industry of autonomous mobile robots and music playback devices, the software creation industry for operating the playback devices, the entertainment industry, and the like.

Claims (23)

A reproduction log analysis program for analyzing a reproduction log reproduced by an autonomous mobile robot capable of reproducing a music file and generating a recommendation list according to a user preference based on the analysis result,
The program includes a reproduction log acquisition procedure for acquiring a reproduction log reproduced by the autonomous mobile robot,
A reproduction log storage procedure for storing the reproduction log acquired by the reproduction log acquisition procedure in a reproduction log database;
Based on the reproduction log stored in the reproduction log database, a reproduction log analysis procedure for analyzing user preferences;
According to the replay log analysis procedure, a recommendation list generation procedure for generating the user's own recommendation list,
A network connection determination procedure for determining whether or not the communication means of the terminal device is network-connected to the music file providing site;
When connected to the music file providing site, the music file information acquisition procedure for optimizing and acquiring the music file information provided on the music file providing site according to the recommendation list;
A music file display procedure for displaying the acquired music file information on the display means of the terminal device;
When the music file information displayed on the display means is selected by the user, a music file download procedure for connecting to the music file providing site and transmitting a download request and downloading the selected music file;
A music file storage procedure for storing the downloaded music file in the storage means of the terminal device;
Replay log analysis program that causes a computer to execute. A wireless network connection procedure for connecting to the autonomous mobile robot via a wireless network;
A music file reproduction command transmission procedure for transmitting a reproduction command for reproducing the music file stored in the storage means of the terminal device by the reproduction means of the autonomous mobile robot when the wireless network connection is established;
The reproduction log analysis program according to claim 1, which causes a computer to execute.   The reproduction log analysis program according to claim 1 or 2, wherein the reproduction log includes a song name data reproduction log in which a song name from which the autonomous mobile robot has reproduced a song file is specified and recorded.   3. The reproduction log analysis program according to claim 1, wherein the reproduction log includes a day / date / time data reproduction log in which a day of the week and a time at which the autonomous mobile robot has reproduced a music file are recorded.   3. The reproduction log analysis program according to claim 1, wherein the reproduction log includes a place data reproduction log in which a place where the autonomous mobile robot has reproduced the music file is recorded.   The reproduction log analysis program according to claim 1 or 2, wherein the reproduction log includes an environment setting data reproduction log such as a sound volume and a sound effect when the autonomous mobile robot reproduces a music file.   The reproduction log includes a playlist reproduction log in which a favorite playlist including a music file group created by a user and a day and time data on which the favorite playlist is reproduced are associated with each other. Alternatively, the reproduction log analysis program according to claim 2.   The reproduction log includes a dance category reproduction log in which a music file reproduced by the autonomous mobile robot and a dance associated with the music file are recorded, and the dance category is optimal according to the genre of the music file. 3. The reproduction log analysis program according to claim 1, wherein the reproduction log analysis program is optimized so that a dance is selected. Communication means capable of accessing a music file providing site, storage means for storing a music file downloaded via the communication means, display means for displaying a plurality of music file information stored in the storage means, and the storage A music file playback means for playing back a music file stored in the means, and a terminal device in which a playback log analysis program is installed,
The reproduction log analysis program includes a reproduction log acquisition procedure for acquiring a reproduction log of a music file reproduced by the music file reproduction means;
A reproduction log storage procedure for storing the reproduction log acquired by the reproduction log acquisition procedure in a reproduction log database;
Based on the reproduction log stored in the reproduction log database, a reproduction log analysis procedure for analyzing user preferences;
According to the reproduction log analysis procedure, a recommendation list generation procedure for generating the user's own recommendation list,
A network connection determination procedure for determining whether or not the communication means is network-connected to the music file providing site;
When the communication means of the terminal device is connected to the music file providing site by the network connection determination procedure, the music file information provided on the music file providing site is optimized according to the recommendation list. Music file information acquisition procedure
A music file display procedure for displaying the acquired music file information on the display means;
When the music file information displayed on the display means is selected by the user, a music file download procedure for connecting to the music file providing site and transmitting a download request and downloading the selected music file;
A music file storage procedure for storing the downloaded music file in the storage means;
A terminal apparatus characterized by being a reproduction log analysis program comprising: A wireless network connection procedure for connecting to the autonomous mobile robot via a wireless network;
A music file reproduction command transmission procedure for transmitting a reproduction command for reproducing the music file stored in the storage means of the terminal device by the reproduction means of the autonomous mobile robot when the wireless network connection is established;
The terminal device according to claim 9, wherein a reproduction log analysis program comprising: is installed.   The terminal device according to claim 9 or 10, wherein the reproduction log includes a song name data reproduction log in which a song name from which the autonomous mobile robot has reproduced a song file is specified and recorded.   11. The terminal device according to claim 9, wherein the reproduction log includes a day / date / time data reproduction log in which a day of the week and a time at which the autonomous mobile robot has reproduced a music file are recorded.   The terminal device according to claim 9 or 10, wherein the reproduction log includes a location data reproduction log in which a location where the autonomous mobile robot has reproduced a music file is recorded.   The terminal device according to claim 9 or 10, wherein the reproduction log includes an environment setting data reproduction log such as a sound volume and a sound effect when the autonomous mobile robot reproduces a music file.   10. The reproduction log includes a playlist reproduction log in which a favorite playlist including a music file group created by a user and a day and time data on which the favorite playlist is reproduced are associated with each other. Or the terminal device of Claim 10. Communication means capable of accessing a music file providing site, storage means for storing a music file downloaded via the communication means, display means for displaying a plurality of music file information stored in the storage means, and the storage A music file reproduction means for reproducing the music file stored in the means, and an autonomous mobile robot installed with a reproduction log analysis program,
The reproduction log analysis program includes a reproduction log acquisition procedure for acquiring a reproduction log of a music file reproduced by the music file reproduction means;
A reproduction log storage procedure for storing the reproduction log acquired by the reproduction log acquisition procedure in a reproduction log database;
Based on the reproduction log stored in the reproduction log database, a reproduction log analysis procedure for analyzing user preferences;
According to the reproduction log analysis procedure, a recommendation list generation procedure for generating the user's own recommendation list,
A network connection determination procedure for determining whether or not the communication means is network-connected to the music file providing site;
When the communication means of the autonomous mobile robot is connected to the music file providing site by the network connection determination procedure, the music file information provided on the music file providing site is determined according to the recommendation list. Music file information acquisition procedure to be optimized and acquired,
A music file display procedure for displaying the acquired music file information on the display means;
When the music file information displayed on the display means is selected by the user, a music file download procedure for connecting to the music file providing site and transmitting a download request and downloading the selected music file;
A music file storage procedure for storing the downloaded music file in the storage means;
An autonomous mobile robot characterized by the fact that The autonomous mobile robot includes a storage unit that stores obstacle position information in a moving space as map data;
An image data processing unit for processing image data from the imaging unit;
A moving mechanism control unit that controls the moving mechanism and generates travel information based on sensor information output from sensors in the moving mechanism;
A position estimation unit that estimates a position from the travel information generated by the moving mechanism control unit and the processing result of the image data processing unit;
A movement route planning unit for obtaining a movement route from the position estimated by the position estimation unit and the map data stored in the storage unit,
The moving mechanism control unit is an autonomous mobile robot that moves by controlling the moving mechanism based on the moving route obtained by the moving route planning unit,
An information input unit that receives input of position information and destination information from the user, and a position information storage unit that stores the position information input from the information input unit and the position estimated by the position estimation unit in association with each other. Prepared,
When destination information is input to the information input unit, the route planning unit obtains position data corresponding to the input destination information from the storage unit and stores it in the storage unit. 17. The autonomous mobile robot according to claim 16, wherein a movement route is obtained from the position estimated by the position estimation unit with reference to map data.   18. The autonomous mobile robot according to claim 16, wherein the autonomous mobile robot includes a distance measuring sensor capable of measuring a measurement target by using either infrared rays or ultrasonic waves.   19. The autonomous mobile robot according to claim 16, wherein the reproduction log includes a song name data reproduction log in which the song file reproducing means identifies and records the song name from which the song file is reproduced.   19. The autonomous mobile robot according to claim 16, wherein the reproduction log includes a day / date / time data reproduction log in which the music file reproduction unit reproduces the day and time of reproduction of the music file.   19. The autonomous mobile robot according to claim 16, wherein the reproduction log includes a location data reproduction log in which a location where the music file reproduction unit reproduces the music file is recorded.   19. The autonomous mobile robot according to claim 16, wherein the reproduction log includes an environment setting data reproduction log such as a sound volume and a sound effect when the music file reproduction unit reproduces the music file.   The reproduction log includes a playlist reproduction log in which a favorite playlist including a music file group created by a user and a day and time data on which the favorite playlist is reproduced are associated with each other. The autonomous mobile robot according to claim 18.

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